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  1. # Generated by stepconf 1.1 at Wed Nov 18 23:24:34 2020
  2. # If you make changes to this file, they will be
  3. # overwritten when you run stepconf again
  4. loadrt [KINS]KINEMATICS
  5. loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
  6. loadrt hal_parport cfg="0x378 out"
  7. loadrt stepgen step_type=0,0,0
  8.  
  9. addf parport.0.read base-thread
  10. addf stepgen.make-pulses base-thread
  11. addf parport.0.write base-thread
  12.  
  13. addf stepgen.capture-position servo-thread
  14. addf motion-command-handler servo-thread
  15. addf motion-controller servo-thread
  16. addf stepgen.update-freq servo-thread
  17. net spindle-cmd-rpm <= spindle.0.speed-out
  18. net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
  19. net spindle-cmd-rps <= spindle.0.speed-out-rps
  20. net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
  21. net spindle-at-speed => spindle.0.at-speed
  22. net spindle-on <= spindle.0.on
  23.  
  24. net spindle-on => parport.0.pin-01-out
  25. net xstep => parport.0.pin-02-out
  26. net xdir => parport.0.pin-03-out
  27. net ystep => parport.0.pin-04-out
  28. net ydir => parport.0.pin-05-out
  29. net zstep => parport.0.pin-06-out
  30. net zdir => parport.0.pin-07-out
  31. net all-home <= parport.0.pin-10-in
  32.  
  33. setp stepgen.0.position-scale [JOINT_0]SCALE
  34. setp stepgen.0.steplen 1
  35. setp stepgen.0.stepspace 1
  36. setp stepgen.0.dirhold 70000
  37. setp stepgen.0.dirsetup 70000
  38. setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
  39. net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
  40. net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
  41. net xstep <= stepgen.0.step
  42. net xdir <= stepgen.0.dir
  43. net xenable joint.0.amp-enable-out => stepgen.0.enable
  44. net all-home => joint.0.home-sw-in
  45.  
  46. setp stepgen.1.position-scale [JOINT_1]SCALE
  47. setp stepgen.1.steplen 1
  48. setp stepgen.1.stepspace 1
  49. setp stepgen.1.dirhold 70000
  50. setp stepgen.1.dirsetup 70000
  51. setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
  52. net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
  53. net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
  54. net ystep <= stepgen.1.step
  55. net ydir <= stepgen.1.dir
  56. net yenable joint.1.amp-enable-out => stepgen.1.enable
  57. net all-home => joint.1.home-sw-in
  58.  
  59. setp stepgen.2.position-scale [JOINT_2]SCALE
  60. setp stepgen.2.steplen 1
  61. setp stepgen.2.stepspace 1
  62. setp stepgen.2.dirhold 70000
  63. setp stepgen.2.dirsetup 70000
  64. setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
  65. net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
  66. net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
  67. net zstep <= stepgen.2.step
  68. net zdir <= stepgen.2.dir
  69. net zenable joint.2.amp-enable-out => stepgen.2.enable
  70. net all-home => joint.2.home-sw-in
  71.  
  72. net estop-out <= iocontrol.0.user-enable-out
  73. net estop-out => iocontrol.0.emc-enable-in
  74.  
  75. loadusr -W hal_manualtoolchange
  76. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  77. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  78. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  79. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  80.  
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